Finite-time circle formation control for multi-agent systems with unidirectional motion

This paper investigates the finite-time circle formation control problem for networked mobile agents with continuous-time dynamics. The agents are constrained to move on the circle only in the counterclockwise direction. Distributed control laws are developed to achieve desired circle formation in finite time and the spatial order of the agents is preserved during the formation task. With the help of Lyapunov methods and finite-time stability theory, convergence analysis of the proposed formation control laws is provided. Finally, simulation examples are presented to illustrate the effectiveness and performance of the proposed control laws.